# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0.000484

# Root(pelvis)
0 1.022003 0
0.999956 -0.001497 -0.000000 -0.009268
0.072184 -0.081875 -0.684816
0.082246 0.232880 -0.068375

# pelvis_torso
0.999003 0.027401 0.035097 0.003133
0.104874 -0.237568 0.052776

# lHip
0.993892 -0.109245 -0.000656 -0.015622
1.652995 -0.284039 0.106307

# rHip
0.997831 -0.050875 0.007767 0.041048
-0.785663 -0.235117 0.002415

# torso_head
0.999851 0.017102 0.002165 0.000577
0.006105 0.039784 -0.037113

# lShoulder
0.701300 0.004575 0.005347 -0.712832
-0.708124 0.005202 -0.037515

# rShoulder
0.714030 -0.020364 0.018647 0.699570
0.246959 0.049544 0.097631

# lKnee
0.926674 0.375866 0.000000 -0.000000
-4.872201 -0.000072 0.000084

# rKnee
1.000000 -0.000000 -0.000000 0.000000
0.000000 0.000000 0.000000

# lElbow
0.999942 0.000000 -0.010762 0.000000
0.000005 -0.525433 0.000002

# rElbow
0.998874 -0.000000 0.047445 0.000000
-0.000020 -0.848049 0.000009

# lAnkle
0.999604 -0.028136 -0.000001 0.000059
-0.848736 0.002102 -1.926462

# rAnkle
0.998127 0.052448 -0.001652 -0.031438
0.452290 -0.028413 -0.118986

# lToeJoint
1.000000 0.000527 -0.000001 -0.000000
-10.640790 -0.010099 -0.000698

# rToeJoint
0.999596 -0.028406 0.000000 0.000000
0.451549 0.000042 0.000000

